FrmBatchMove.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Runtime.CompilerServices;
using System.Threading;
using System.IO;
using System.Runtime.InteropServices;
using OnlineStore.DeviceLibrary;
using log4net;
using System.Reflection;
using UserFromControl;
using OnlineStore.LoadCSVLibrary;
using OnlineStore.Common;
namespace OnlineStore.XLRStore
{
internal partial class FrmBatchMove : FrmBase
{
private bool IsLoad = false;
private BatchMoveBean moveBean;
internal FrmBatchMove(BatchMoveBean moveEquip)
{
this.moveBean = moveEquip;
Control.CheckForIllegalCrossThreadCalls = false;
InitializeComponent();
}
private bool IsInCheck = false;
private void timer1_Tick(object sender, EventArgs e)
{
try
{
if (!this.Visible)
{
return;
}
lblWarnMsg.Text = moveBean.WarnMsg;
lblCurrInfo.Text = moveBean.GetMoveStr();
string text = "AGV " + moveBean.Config.AgvName + " :" + AgvClient.GetAction(moveBean.Config.AgvName);
if (StoreManager.XLRStore.inputEquip.runStatus > RunStatus.Wait)
{
btnReset.Enabled = true;
}
else
{
btnReset.Enabled = true;
}
text += "\r\n" + moveBean.MoveInfo.MoveType + "_" + moveBean.MoveInfo.MoveStep;
text += "\r\n" + moveBean.CurrShelf?.ToStr();
lblAgvInfo.Text = text;
}
catch (Exception ex)
{
LogUtil.error(moveBean.Name + "界面定时器出错：", ex);
}
}
private void FrmTest_FormClosing(object sender, FormClosingEventArgs e)
{
try
{
if (this.timer1.Enabled)
{
this.timer1.Enabled = false;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.StackTrace, "Exception(异常)", MessageBoxButtons.OK, MessageBoxIcon.Error);
LogUtil.error("", ex);
}
}
private void FrmStoreIOStatus_Load(object sender, EventArgs e)
{
this.chbAutoOut.Checked = moveBean.ShelfAutoOut;
axisMoveControl1.LoadData(StoreManager.XLRStore.inputEquip, new AxisBean[] { moveBean.BatchAxis });
batchAxisP1.SetMoveData(moveBean.BatchAxis, StoreManager.XLRStore.inputEquip.Config.BatchAxis_P1Speed, moveBean.Config.BatchAxisP1);
batchAxisP2.SetMoveData(moveBean.BatchAxis, StoreManager.XLRStore.inputEquip.Config.BatchAxis_P2Speed, moveBean.Config.BatchAxisP2);
batchAxisP4.SetMoveData(moveBean.BatchAxis, StoreManager.XLRStore.inputEquip.Config.BatchAxis_P4Speed, moveBean.Config.BatchAxisP4, true);
lblWarnMsg.Text = moveBean.WarnMsg;
lblCurrInfo.Text = moveBean.GetMoveStr();
lblAgvInfo.Text = "AGV " + moveBean.Config.AgvName + " :" + AgvClient.GetAction(moveBean.Config.AgvName);
IsLoad = true;
}
private void FrmIOStatus_Shown(object sender, EventArgs e)
{
timer1.Start();
}
private void btnStart_Click(object sender, EventArgs e)
{
moveBean.Reset(true);
LogUtil.info(moveBean.Name + "点击：" + btnReset.Text);
}
private void btnSave_Click(object sender, EventArgs e)
{
int p1 = batchAxisP1.PointValue;
int p2 = batchAxisP2.PointValue;
int p4 = batchAxisP4.PointValue;
if (p4 < 0)
{
MessageBox.Show("扫码时上升高度P4不能小于0 ,请重新设置P4点位置", "保存失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
moveBean.Config.BatchAxisP1 = p1;
moveBean.Config.BatchAxisP2 = p2;
moveBean.Config.BatchAxisP4 = p4;
if (moveBean.ShelfType.Equals(1))
{
StoreManager.XLRStore.inputEquip.Config.BatchAxisP1_A = p1;
StoreManager.XLRStore.inputEquip.Config.BatchAxisP2_A = p2;
StoreManager.XLRStore.inputEquip.Config.BatchAxisP4_A = p4;
}
else
{
StoreManager.XLRStore.inputEquip.Config.BatchAxisP1_B = p1;
StoreManager.XLRStore.inputEquip.Config.BatchAxisP2_B = p2;
StoreManager.XLRStore.inputEquip.Config.BatchAxisP4_B = p4;
}
StoreManager.SaveInputEquipConfig(StoreManager.XLRStore.inputEquip.Config);
MessageBox.Show("保存成功");
}
private int TargetP2;
private bool StartTest = false;
private void btnStartTest_Click(object sender, EventArgs e)
{
ConfigMoveAxis moveAxis = moveBean.BatchAxis.Config;
bool isServoOn = AxisManager.instance.IsServeoOn(moveAxis.DeviceName, moveAxis.GetAxisValue());
if (!isServoOn)
{
MessageBox.Show(moveAxis.Explain + " 未打开，请先打开伺服 ", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
bool isStop = AxisManager.instance.GetBusyStatus(moveAxis.DeviceName, moveAxis.GetAxisValue()).Equals(0);
if (isServoOn && isStop)
{
//判断提升轴是否停止且到位
TargetP2 = moveBean.Config.BatchAxisP2;
LogUtil.info(moveBean.Name + "点击：" + btnStartTest.Text + "，目标位置：" + moveBean.Config.BatchAxisP2);
moveBean.BatchAxisToP2(true, false, true);
lblTestMsg.Text = "开始入料运动，目标位置[" + TargetP2 + "] ，开始位置[" + moveBean.StartMovePosition + "]，";
StartTest = true;
}
else
{
MessageBox.Show(moveAxis.Explain + " 忙碌中，无法开始运动 ", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
}
private void btnTestStop_Click(object sender, EventArgs e)
{
LogUtil.info(moveBean.Name + "点击：" + btnTestStop.Text);
moveBean.BatchAxis.AxisStopCheckMove();
moveBean.BatchAxis.SuddenStop();
}
private void BatchTimerPro()
{
if (moveBean.BatchAxis.IsBatchMove())
{
btnStartTest.Enabled = false;
if (moveBean.LastMoveIsTest)
{
ConfigMoveAxis moveAxis = moveBean.BatchAxis.Config;
bool countError = false;
bool isStop = false;
bool result = AxisManager.instance.AbsMoveIsEnd(moveAxis.DeviceName, moveAxis.GetAxisValue(), TargetP2, moveAxis.CanErrorCountMax, out countError);
if (result)
{
isStop = true;
LogUtil.info(moveBean.Name + "提升轴上料功能测试，发现提升轴已到达目标位置【" + TargetP2 + "】，停止上料测试 ");
}
else
{
bool axisMoveIsEnd = HuichuanLibrary.HCBoardManager.MoveIsEnd(moveBean.BatchAxis.Config.GetAxisValue());
if (axisMoveIsEnd)
{
isStop = true;
LogUtil.info(moveBean.Name + "提升轴上料功能测试，发现提升轴已停止运动，停止上料测试");
}
}
if (isStop)
{
StartTest = false;
moveBean.BatchAxis.AxisStopCheckMove();
btnStartTest.Enabled = true;
btnTestStop.Enabled = false;
int height = moveBean.GetHeight();
lblTestMsg.Text = "目标位置[" + TargetP2 + "] ，开始位置[" + moveBean.StartMovePosition + "]，停止位置[" + moveBean.EndMovePosition + "]，高度[" + height + "]mm";
}
else
{
btnTestStop.Enabled = true;
}
}
else
{
btnTestStop.Enabled = false;
}
}
else
{
if (StartTest)
{
StartTest = false;
int height = moveBean.GetHeight();
lblTestMsg.Text = "目标位置[" + TargetP2 + "] ，开始位置[" + moveBean.StartMovePosition + "]，停止位置[" + moveBean.EndMovePosition + "]，高度[" + height + "]mm";
}
btnStartTest.Enabled = true;
btnTestStop.Enabled = false;
}
}
private void chbAutoOut_CheckedChanged(object sender, EventArgs e)
{
if (!IsLoad)
{
return;
}
moveBean.ShelfAutoOut = chbAutoOut.Checked;
LogUtil.info(moveBean.Name + "用户切换料架入库完成自动出库： " + moveBean.ShelfAutoOut);
}
private void btnShelfOut_Click(object sender, EventArgs e)
{
if (!IsLoad)
{
return;
}
moveBean.ShelfNeedLeave = true;
LogUtil.info(moveBean.Name + "用户点击:" + btnShelfOut.Text);
}
private void btnScanTest_Click(object sender, EventArgs e)
{
if (!IsLoad)
{
return;
}
string camera = moveBean.Config.CameraName;
List<string> LastCodeList = CodeManager.CameraScan(camera, moveBean.Name.Trim() + "测试");
string msg = CodeManager.ProcessCode(LastCodeList);
LogUtil.info(moveBean.Name + "[" + camera + "]扫码测试结果：\r\n" + msg);
MessageBox.Show(moveBean.Name + "[" + camera + "]扫码测试结果：" + msg);
}
private void Shelf_StopUp_A_Click(object sender, EventArgs e)
{
LogUtil.info(moveBean.Name + "点击：" + Shelf_StopUp_A.Text);
moveBean.StopUp();
}
private void Shelf_StopDown_A_Click(object sender, EventArgs e)
{
LogUtil.info(moveBean.Name + "点击：" + Shelf_StopDown_A.Text);
moveBean.StopDown();
}
private void LineStart_A_Click(object sender, EventArgs e)
{
LogUtil.info(moveBean.Name + "点击：" + LineStart_A.Text);
moveBean.LineRun();
}
private void LineBack_A_Click(object sender, EventArgs e)
{
LogUtil.info(moveBean.Name + "点击：" + LineBack_A.Text);
moveBean.LineBack();
}
private void LineStop_A_Click(object sender, EventArgs e)
{
LogUtil.info(moveBean.Name + "点击：" + LineStop_A.Text);
moveBean.LineStop();
}
private void btnResetShelf_Click(object sender, EventArgs e)
{
LogUtil.info(moveBean.Name + "点击：" + btnResetShelf.Text);
moveBean.Reset(true,true);
}
private void chbMoveStop_CheckedChanged(object sender, EventArgs e)
{
if (!IsLoad)
{
return;
}
moveBean.MoveStop = chbMoveStop.Checked;
LogUtil.info(moveBean.Name + "用户切换是否暂停： " + moveBean.MoveStop);
}
public void ShowConfig(bool state)
{
axisMoveControl1.Visible = state;
groupBox1.Visible = state;
groupBox2.Visible = state;
groupBox3.Visible = state;
chbAutoOut.Visible = state;
}
}
}